int main(void){unsigned int p;//call all initializing functionsInitPorts();InitInterrupts();InitPWM();InitLCD(0);//LS_BLINK|LS_ULINELCDClear();sei();//enables interrupts//prints the openning screenBacklightOn();LCDClear();LCDGotoXY(0,0);LCDWriteString("Lord ofthe Lines");delay(1);LCDGotoXY(3, 1);LCDWriteString("pratheek");delay(1);DispMenu(0);//displays home screenwhile(true){if(pause == false){CalcError();if((s1+s2+s3+s4+s5+s6+s7+s8) == 0)//robot has overshot{if(lastreading == 'r')//checks if the last sensor to the activated was right{RightMB();//turn right at full speedLeftMF();OCR1A = 255;OCR1B = 255;}else if(lastreading == 'l')//checks if the last sensor to the activated was left{RightMB();//turn left at full speed